Technical Field
[0001] The present invention relates to a derailment sign detection system, a control device,
a derailment sign detection method and a derailment sign detection program.
Background Art
[0002] As a technology for detecting a derailment sign of a railway train, the technology
described in Patent Document 1 is available. The technology described in Patent Document
1 is a technology proposed by the inventors of the present invention in which the
pitch angular velocity and the roll angular velocity of a traveling bogie is detected
using a sensor installed on the bogie frame and it is determined that a derailment
sign is present under the condition that the detected pitch angular velocity of the
bogie or the integrated value of the pitch angular velocity of the bogie becomes larger
than a preset threshold value and under the condition that the detected roll angular
velocity of the bogie or the integrated value of the roll angular velocity of the
bogie becomes larger than a preset threshold value.
Citation List
Patent Document
Summary of Invention
Technical Problem
[0004] With the above-mentioned technology described in Patent Document 1, a dangerous state
can be grasped beforehand, whereby the safety during the traveling of a train can
be improved. Furthermore, the derailment of the train can be prevented during traveling
at low speed, whereby the breakage of the train and railway tracks can be prevented.
On the other hand, as a result of further analysis of the past accident investigations,
it has been confirmed that the time from the start of the so-called flange climb,
i.e., a derailment sign, to a derailment is shorter than the time that is conventionally
assumed to be required.
[0005] The present invention is made in consideration of the above-mentioned problems, and
an object of the present invention is to provide a technology capable of determining
the presence of a derailment sign earlier than ever.
Solution to Problem
[0006] In the present invention, attention is paid to the roll angular velocity of a traveling
bogie and the presence of a derailment sign is determined on the basis of the prediction
value of the roll angular velocity to solve the above-mentioned problems.
[0007] More specifically, the present invention relates to a derailment sign detection system
equipped with:
a detection section provided in a train to detect a pitch angular velocity and a roll
angular velocity of a train on traveling;
a control device that makes a storage device store the roll angular velocity detected
by the detection section, calculates a prediction value of the roll angular velocity
after a lapse of a prediction time based on a history of the roll angular velocity,
and determines that a derailment sign of the train is present in a case that the pitch
angular velocity detected by the detection section and the prediction value of the
roll angular velocity exceed preset threshold values respectively corresponding thereto;
and
an output section that transmits the derailment sign to an outside in a case that
the control device determines that the derailment sign is present.
[0008] In the present invention, the prediction value of the roll angular velocity is calculated
and it is determined whether a derailment sign of the train is present on the basis
of the prediction value of the roll angular velocity, whereby the time until the roll
angular velocity exceeds the preset threshold value can be made shorter than ever.
Hence, the presence of the derailment sign can be determined earlier. As a result,
a dangerous state can be grasped earlier beforehand, whereby the safety during the
traveling of the train can be improved. Furthermore, the derailment of the train can
be prevented, and the breakage of the train and the railway tracks can be prevented.
[0009] For example, in the technology described in Patent Document 1, it is determined that
a derailment sign is present under the condition that the pitch angular velocity of
the bogie or the integrated value of the pitch angular velocity of the bogie becomes
larger than a preset threshold value corresponding thereto and under the condition
that the detected roll angular velocity of the bogie or the integrated value of the
roll angular velocity of the bogie becomes larger than a preset threshold value corresponding
thereto. In addition, time T1 until the detected roll angular velocity of the bogie
or the integrated value of the roll angular velocity of the bogie becomes larger than
the corresponding preset threshold value is longer than time T2 until the pitch angular
velocity of the bogie or the integrated value of the pitch angular velocity of the
bogie becomes larger than the corresponding preset threshold value (T1 > T2). In the
present invention, attention is paid to the roll angular velocity that requires a
relatively longer time for determination, and the prediction value of the roll angular
velocity is used instead of the measured roll angular velocity so that the time until
the roll angular velocity exceeds the preset threshold value can be made shorter than
ever.
[0010] The preset threshold value can be calculated by an experiment or a simulation in
which the traveling speed of the train and the attribute parameters of the train have
been set appropriately. The derailment sign is transmitted by sound or display, for
example. Upon determining that a derailment sign is present, the control device may
start a sprinkling device to sprinkle water to the contact portion between the rail
and the flange of the wheel and to reduce the friction coefficient. As a result, the
train can be made to return to the rails and can be prevented from being derailed.
Alternatively, the control device may stop the train.
[0011] In addition, the control device may calculate a change amount of the roll angular
velocity in an inclination measurement time, and may calculate the prediction value
of the roll angular velocity after the lapse of the prediction time on an assumption
that a change in the roll angular velocity is maintained after the lapse of the prediction
time. Hence, it is possible to determine the presence of a derailment sign at a time
earlier than the time when the roll angular velocity actually exceeds the preset threshold
value corresponding thereto.
[0012] Furthermore, it is preferable that the prediction time and the inclination measurement
time should be set based on a time required until the pitch angular velocity exceeds
the preset threshold value of the pitch angular velocity. The time required until
the pitch angular velocity exceeds the preset threshold value of the pitch angular
velocity can be calculated by an experiment or a simulation in which the traveling
speed of the train and the attribute parameters of the train have been set appropriately.
It is preferable that the prediction time should be set so that the difference between
the prediction time and the time required until the pitch angular velocity exceeds
the preset threshold value of the pitch angular velocity.
[0013] Moreover, the control device can make the storage device store the pitch angular
velocity detected by the detection section, can calculate the prediction value of
the pitch angular velocity after the lapse of the prediction time based on a history
of the pitch angular velocity, and can determine that the derailment sign of the train
is present in a case that the prediction value of the pitch angular velocity and the
prediction value of the roll angular velocity exceed the preset threshold values respectively
corresponding thereto.
[0014] The present invention may herein be specified as the control device in the above-mentioned
derailment sign detection system. For example, the present invention is a control
device that makes a storage device store the roll angular velocity of a bogie detected
by a detection section which is provided in a train and detects a pitch angular velocity
and the roll angular velocity of the train on traveling, calculates a prediction value
of the roll angular velocity after a lapse of a prediction time based on a history
of the roll angular velocity, determines that a derailment sign of the train is present
in a case that the pitch angular velocity of the bogie detected by the detection section
and the prediction value of the roll angular velocity exceed preset threshold values
respectively corresponding thereto, and transmits the derailment sign to an outside
in a case that the control device determines that the derailment sign is present.
[0015] Besides, the present invention may be specified as a derailment sign detection method
to be executed by the above-mentioned derailment sign detection system or control
device. For example, the present invention is a derailment sign detection method in
which a computer executes a process including:
a prediction value calculating step of making a storage device store a roll angular
velocity of a bogie detected by a detection section which is provided in a train and
detects a pitch angular velocity and the roll angular velocity of the train on traveling,
and calculating a prediction value of the roll angular velocity after a lapse of a
prediction time based on a history of the roll angular velocity;
a sign determination step of determining that a derailment sign of the train is present
in a case that the pitch angular velocity of the bogie detected by the detection section
and the prediction value of the roll angular velocity calculated at the prediction
value calculating step exceed preset threshold values respectively corresponding thereto;
and
a transmitting step of transmitting the derailment sign to an outside in a case that
it is determined that the derailment sign is present at the sign determination step.
[0016] What's more, the present invention may be specified as a derailment prediction detection
program capable of being executed by the above-mentioned derailment sign detection
system or control device. For example, the present invention is a derailment sign
detection program for making a computer execute a process including:
a prediction value calculating step of making a storage device store a roll angular
velocity of a bogie detected by a detection section which is provided in a train and
detects a pitch angular velocity and the roll angular velocity of the train on traveling,
and calculating a prediction value of the roll angular velocity after a lapse of a
prediction time on based on a history of the roll angular velocity;
a sign determination step of determining that a derailment sign of the train is present
in a case that the pitch angular velocity of the bogie detected by the detection section
and the prediction value of the roll angular velocity calculated at the prediction
value calculating step exceed preset threshold values respectively corresponding thereto;
and
a transmitting step of transmitting the derailment sign to an outside in a case that
it is determined that the derailment sign is present at the sign determination step.
Still further, the present invention may be a recording medium that can be read by
a computer. In this case, when the program stored in the recording medium is loaded
into a computer or the like and executed, the function thereof can be provided. Recording
media that can be read by computers or the like are recording media in which information
including data and programs can be stored electrically, magnetically, optically, mechanically
or chemically and can be read by computers or the like.
Advantageous Effect of Invention
[0017] The present invention can provide a technology capable of determining the presence
of a derailment sign earlier than ever.
Brief Description of Drawings
[0018]
FIG. 1A is a side view showing a train;
FIG. 1B is a view showing a general configuration of a derailment sign detection system
according to an embodiment;
FIG. 2A is a plan view showing an installation example of a sensor in the derailment
sign detection system according to the embodiment;
FIG. 2B is a side view showing the installation example of the sensor in the derailment
sign detection system according to the embodiment;
FIG. 3 shows an algorithm for derailment sign detection;
FIG. 4 shows a flow of a derailment sign detection determination process according
to the embodiment;
FIG. 5 shows an example of a graph illustrating the relationship between a change
amount and time;
FIG. 6 shows an example of a database of threshold values;
FIG. 7 shows an example of a prediction effect in the movement average of roll angular
velocity;
FIG. 8 shows an example of a prediction effect in pitch angular velocity;
FIG. 9 shows parameter values for a simulation;
FIG. 10 shows verification result (1) of detection time;
FIG. 11 shows verification result (2) of detection time;
FIG. 12 shows verification result (3) of detection time;
FIG. 13 shows verification result (4) of detection time;
FIG. 14 shows verification result (5) of detection time;
FIG. 15 shows verification result (6) of detection time;
FIG. 16 shows verification result (7) of detection time;
FIG. 17 shows verification result (8) of detection time;
FIG. 18 shows verification result (9) of detection time; and
FIG. 19 shows verification result (10) of detection time.
Description of Embodiment
[0019] Next, an embodiment according to the present invention will be described on the basis
of the drawings. However, the following descriptions are only examples and the present
invention is not limited to these.
<Embodiment>
«Configuration»
[0020] As shown in FIGS. 1A and 1B, a derailment sign detection system 1 according to an
embodiment is a system composed of various electronic apparatuses and various sensors
provided in a train 2, and the system is equipped with an ECU 3, a speed sensor 4
and an angular velocity sensor 5. The train 2 is equipped with vehicle bodies 21 and
bogies 22 connected to the lower sections of the vehicle bodies 21 to support the
vehicle bodies 21. The bogie 22 is equipped with a bogie frame (not shown in FIG.
1A). In the bogie frame, axles 23 are provided so as to be extended across the bogie
frame and wheels 24 making contact with rails are connected to both ends of each axle
23. The derailment sign detection system 1 may be configured so as to further include
at least an abnormality notifying means A (a monitor 6, a speaker 7) or an abnormality
avoiding means B (a braking device 8, a water sprinkling device 9).
[0021] The ECU (Electronic Control Unit) 3 corresponds to a control device according to
the present invention and is equipped with a CPU (Central Processing Unit) 31 and
a memory 32. The ECU 3 is connected to the speed sensor 4, the angular velocity sensor
5, the abnormality notifying means A (the monitor 6, the speaker 7) and the abnormality
avoiding means B (the braking device 8, the water sprinkling device 9). The CPU 31
calculates the prediction value of a roll angular velocity and determines whether
a derailment sign of the train is present, for example, according to a program stored
in the memory 32. Furthermore, the CPU 31 controls the abnormality notifying means
A (the monitor 6, the speaker 7) and the abnormality avoiding means B (the braking
device 8, the water sprinkling device 9), for example. The process to be executed
by the ECU 3 will be described later in detail.
[0022] The speed sensor 4 detects the traveling speed of the train 2. The speed sensor 4
is provided, for example, on the axle 23, detects the number of revolutions of the
wheel 24 per unit time and outputs the number of revolutions to the ECU 3, thereby
outputting the traveling speed of the train 2 to the ECU 3.
[0023] The angular velocity sensor 5 is provided on the bogie frame 25 of the bogie 22 at
a nearly central section in the front-rear direction of the train 2 and on a side
section in the width direction of the train 2 and detects a pitch angular velocity
and a roll angular velocity. The pitch angular velocity is the angular velocity of
the pitch (the rotation (or inclination) around an axis in the width direction of
the train), and the roll angular velocity is the roll (the rotation (or inclination)
around an axis in the front-rear direction of the train). An existing sensor, such
as a gyroscope, can be used appropriately for the angular velocity sensor 5.
[0024] When the ECU 3 determines that a derailment sign is present, the monitor 6 is controlled
by the ECU 3 and displays a derailment sign detection state. The monitor 6 is an example
of an output section of the present invention and can be disposed, for example, in
the vicinity of the driver seat of the train 2.
[0025] When the ECU 3 determines that a derailment sign is present, the speaker 7 outputs
a derailment sign detection state as sound under the control of the ECU 3. The speaker
7 is an example of the output section of the present invention and can be disposed,
for example, in the vicinity of the driver seat of the train 2.
[0026] The sprinkling device 9 is controlled by the ECU 3, and, for example, when a derailment
sign is detected, the sprinkling device sprinkles water to the contact portion between
the rail and the flange of the wheel to reduce the friction coefficient, thereby to
make the derailed train 2 return to the rails. Alternatively, the braking device 8
is controlled by the ECU 3 to stop the train.
«Derailment sign determination process»
[0027] Next, a derailment sign determination process will be described below. FIG. 3 shows
an algorithm for derailment sign detection. In addition, FIG. 4 shows a flow of a
derailment sign determination process according to the embodiment. The derailment
sign determination process is executed by the reading of the corresponding program
stored in the memory 32 using the CPU 31 of the ECU 3.
[0028] At step S01, the CPU 31 acquires information required for the derailment sign determination
process. The information includes the traveling speed, pitch angular velocity and
roll angular velocity of the train 2. The CPU 31 can detect the traveling speed of
the train 2 using the speed sensor 4. The CPU 31 can detect the pitch angular velocity
and the roll angular velocity using the angular velocity sensor 5 provided on the
bogie frame 25 of the bogie 22. The acquired traveling speed, pitch angular velocity
and roll angular velocity are stored in the memory 32. The CPU 31 can detect the traveling
speed, pitch angular velocity and roll angular velocity of the train, for example,
every 0.005 sec. This detection timing is just an example and can be set appropriately.
Hence, the traveling speed, pitch angular velocity and roll angular velocity to be
acquired every 0.005 sec are stored sequentially in the memory 32, whereby the histories
of the traveling speed, pitch angular velocity and roll angular velocity are created.
A logic for making a correction for eliminating the influence of cants on the basis
of the roll angular velocity and a logic for making a correction for eliminating the
influence of rail joints on the basis of the pitch angular velocity are incorporated
in a determination logic for executing the derailment sign determination process,
whereby the influence of track irregularity on the derailment sign determination process
can be eliminated. As a result, it is possible to determine whether not only a derailment
sign during the traveling of the train 2 on straight rails but also a derailment sign
during the traveling of the train 2 on curved rails is present. When the information
required for the derailment sign determination process is acquired, the process advances
to the next step.
[0029] At step S02, the CPU 31 calculates a prediction value of the roll angular velocity
after the lapse of a predetermined time on the basis of the history of the roll angular
velocity. For example, the CPU 31 accesses the area of the memory 32 in which the
roll angular velocity is stored, acquires a predetermined number of roll angular velocity
values from the roll angular velocity values stored in the memory 32 in order from
the newest value to an older value depending on the storage time (FIG. 5 indicates
that the roll angular velocity values Φ at five points included in an inclination
measurement time Δt
p are acquired), obtains a recent average inclination ΔΦ by integrating the roll angular
velocity values and calculating the change amount (displacement amount) in the inclination
measurement time, and calculates the movement average prediction value Φ
p of the roll angular velocity after the lapse of a prediction time T
p on the assumption that the recent average inclination is maintained constant. Expression
1 is an expression for calculating the prediction value of the roll angular velocity.
Φp: movement average prediction value of roll angular velocity
Φ: current movement average value
ΔΦ: recent average inclination
Tp: prediction time
[0030] The current movement average value can be calculated using Expression 2.
φ(t): roll angular velocity
Δtp: inclination measurement time
[0031] The above is represented by a graph as shown in FIG. 5. FIG. 5 shows an example of
a graph illustrating the relationship between a change amount and time. As shown in
FIG. 5, the recent average inclination ΔΦ is obtained from the change amount (displacement
amount, that is, dΦ/t
p) of the roll angular velocity Φ at five time points included in the inclination measurement
time Δt
p, and the movement average prediction value Φ
p of the roll angular velocity after the lapse of the prediction time T
p is calculated on the assumption that the recent average inclination is maintained
constant. The movement average prediction value of the roll angular velocity calculated
as described above is stored in the memory 32. After the movement average prediction
value of the roll angular velocity is calculated as described above, the process advances
to the next step.
[0032] At step S03, the CPU 31 determines whether a derailment sign is present. In the case
that the prediction values of the pitch angular velocity and the roll angular velocity
exceed preset threshold values respectively corresponding thereto, the CPU 31 determines
that a derailment sign is present. The CPU 31 accesses the area of the memory 32 in
which the pitch angular velocity is stored and acquires the pitch angular velocity.
At this time, the CPU 31 accesses the newest value of the pitch angular velocity values
stored in the memory 32. Although a case in which the CPU 31 acquires the pitch angular
velocity stored in the memory 32 is described herein, it may be possible that the
CPU 31 acquires the pitch angular velocity output from the angular velocity sensor
5.
[0033] On the other hand, the CPU 31 accesses the area of the memory 32 in which the prediction
value of the roll angular velocity is stored and acquires the prediction value of
the roll angular velocity. The threshold values of the pitch angular velocity and
the roll angular velocity can be set at each traveling speed as shown in FIG. 6 and
stored in the memory 32 beforehand. Hence, the CPU 31 accesses the area of the memory
32 in which the threshold values are stored to acquire the respective threshold value
corresponding to the traveling speed value.
[0034] The respective threshold values can be calculated by an experiment or a simulation
in which the traveling speed of the train and the attribute parameters of the train
have been set appropriately. The attribute parameters include the weight of the train,
the number of the axles and the diameter of the wheel, for example. Each threshold
value can be set as the lowest value of a physical amount obtained immediately after
a wheel rises up onto the rail, in consideration of detection omission and erroneous
detection. For example, each threshold value can be set for each of vehicle conditions
and traveling conditions including the conditions that the rising amount of the left
wheel of the first axle is 10 mm, the traveling speed is 10 km/h and the number of
the revolutions of the wheel until the rising amount of the wheel reaches 10 mm is
one.
[0035] In the case that the pitch angular velocity exceeds the threshold value of the pitch
angular velocity and the prediction value of the roll angular velocity exceeds the
threshold value of the roll angular velocity, the CPU 31 determines that a derailment
sign is present. In this case, the process advances to step S04. On the other hand,
in the case that the CPU 31 does not determine that a derailment sign is present,
the process returns to step S01. Then, the CPU 31 acquires the traveling speed, pitch
angular velocity and roll angular velocity of the train 2 at step S01 and recalculates
and updates the movement average prediction value Φ
p of the roll angular velocity at step S02, and performs the determination at step
S03.
[0036] At step S04, the CPU 31 controls the water sprinkling device 9 to make the derailed
train 2 return to the rails or controls the braking device 8 to stop the train 2.
In addition, the detection of the derailment sign is indicated on the monitor 6 for
warning. Furthermore, the detection of the derailment sign is output as sound through
the speaker 7 for warning.
«Effect»
[0037] In the derailment sign detection system 1 according to the first embodiment, the
prediction value of the roll angular velocity is calculated and it is determined whether
a derailment sign of the train 2 is present on the basis of the prediction value of
the roll angular velocity, whereby the time until the roll angular velocity exceeds
the preset threshold value can be made shorter than ever. Hence, the presence of the
derailment sign can be determined earlier. As a result, a dangerous state can be grasped
beforehand, whereby the safety during the traveling of the train 2 can be improved.
Consequently, the derailment of the train 2 can be prevented, and the breakage of
the train and the railway tracks can be prevented. An example of the effect is shown
in FIG. 7. The prediction effect in the case that the inclination measurement time
is 0.05 sec and the prediction time is 0.20 sec is shown in FIG. 7, and the effect
corresponds to Experiment No. 4 (see FIG. 13) of the simulation to be described later.
According to FIG. 7, by the use of the prediction value of the roll angular velocity,
the detection time of the derailment sign is shifted from point A to point B, thereby
being shortened by approximately 100 ms.
<Simulation>
[0038] FIG. 9 shows parameter values for the simulation, and FIGS. 10 to 18 show verification
results (1) to (9) of the detection time and show the detection time values in the
case that the movement average prediction of the roll angular velocity is performed.
On the assumption of an actual train, the simulation is performed at the inclination
measurement time and the prediction time for sign prediction detection as shown in
FIG. 10 to verify an optimal inclination measurement time and an optimal prediction
time while the respective parameter values are changed. It can be confirmed that the
detection time is slightly decreased by decreasing the inclination measurement time
and that the detection time is decreased by increasing the prediction time as shown
in FIGS. 10 to 18. It can also be confirmed that the detection time in the case that
the inclination measurement time is set to 50 [ms] and that the prediction time is
set to 200 [ms] is almost equal to the detection time required for detecting a derailment
sign using the pitch angular velocity. As described above, it is preferable that the
prediction time and the inclination measurement time should be set so that the detection
time required for detecting a derailment sign using the prediction value of the roll
angular velocity is nearly equal to the detection time required for detecting a derailment
sign using the pitch angular velocity.
<Modification>
[0039] In the first embodiment, the prediction value of the roll angular velocity is calculated
and a derailment sign is detected using the prediction value of the roll angular velocity;
however, the prediction value of the pitch angular velocity after the lapse of a predetermined
time may be calculated using the pitch angular velocity on the basis of the history
of the pitch angular velocity and the prediction value may be used for the detection
of a derailment sign. The prediction value of the pitch angular velocity can be calculated;
for example, the CPU 31 accesses the area of the memory 32 in which the pitch angular
velocity is stored, acquires a predetermined number of pitch angular velocity values
in order from the newest value to an older value depending on the storage time, obtains
a recent average inclination by integrating the pitch angular velocity values and
calculating the change amount in the inclination measurement time, and calculates
the prediction value of the pitch angular velocity after the lapse of a predetermined
time on the assumption that the change in the calculated recent average inclination
is maintained after the lapse of the predetermined time. FIG. 8 shows an example of
a prediction effect in the pitch angular velocity. The prediction effect in the case
that the inclination measurement time is 0.05 sec and the prediction time is 0.20
sec is shown in FIG. 8, and the effect corresponds to Experiment No. 4 (see FIG. 19)
of the simulation. FIG. 19 shows the detection result (10) of the detection time and
shows the detection time in the case that the prediction of the pitch angular velocity
is performed. According to FIG. 8, by the use of the prediction value of the pitch
angular velocity, the detection time of the derailment sign is shifted from point
A to point B, thereby being shortened by approximately 50 ms.
[0040] The various contents described above can be combined without departing from the scope
of the technological concept of the present invention.
[0041] The characteristics of the above-mentioned embodiment of the derailment sign detection
system, control device, derailment sign detection method and derailment sign detection
program according to the present invention will be briefly summarized and listed in
the following items [1] to [6].
[0042]
- [1] A derailment sign detection system equipped with:
a detection section (angular velocity sensor 5) provided in a train and detecting
a pitch angular velocity and a roll angular velocity of the train on traveling;
a control device (ECU 3) that makes a storage device (memory 32) store the roll angular
velocity detected by the detection section, calculates a prediction value (Φp) of the roll angular velocity after a lapse of a prediction time (Tp) based on a history of the roll angular velocity, and determines that a derailment
sign of the train is present in a case that the pitch angular velocity detected by
the detection section and the prediction value of the roll angular velocity exceed
preset threshold values respectively corresponding thereto: and
an output section (abnormality notifying means A) that transmits the derailment sign
to an outside in a case that the control device determines that the derailment sign
is present.
- [2] The derailment sign detection system described in the item [1], wherein the control
device calculates a change amount of the roll angular velocity in an inclination measurement
time (Δtp) and calculates a prediction value of the roll angular velocity after the lapse of
the prediction time on an assumption that a change in_the roll angular velocity is
maintained after the lapse of the prediction time.
- [3] The derailment sign detection system described in the item [2], wherein the prediction
time and the inclination measurement time are set based on a time required until the
pitch angular velocity exceeds the preset threshold value of the pitch angular velocity.
- [4] The derailment sign detection system described in any one of the items [1] to
[3], wherein the control device makes the storage device store the pitch angular velocity
detected by the detection section, calculates a prediction value of the pitch angular
velocity after the lapse of the prediction time based on a history of the pitch angular
velocity, and determines that a derailment sign of the train is present in a case
that the prediction value of the pitch angular velocity and the prediction value of
the roll angular velocity exceed the preset threshold values respectively corresponding
thereto.
- [5] A control device (ECU 3) configured to:
make a storage device (memory 32) store a roll angular velocity of a bogie (22) detected
by a detection section (angular velocity sensor 5) which is provided in a train and
detects a pitch angular velocity and the roll angular velocity of the train on traveling;
calculate a prediction value of the roll angular velocity after a lapse of a prediction
time (Tp) based on a history of the roll angular velocity, determines that a derailment sign
of the train is present in a case that the pitch angular velocity of the bogie detected
by the detection section and the prediction value of the roll angular velocity exceed
preset threshold values respectively corresponding thereto; and
transmit the derailment sign to an outside in a case that the control device determines
that the derailment sign is present.
- [6] A derailment sign detection method in which a computer (ECU 3) executes a process
including:
a prediction value calculating step (step S02) of making a storage device (memory
32) store a roll angular velocity of a bogie (22) detected by a detection section
(angular velocity sensor 5) which is provided in a train and detects a pitch angular
velocity and the roll angular velocity of the train on traveling, and calculating
a prediction value of the roll angular velocity after a lapse of a prediction time
(Tp) based on a history of the roll angular velocity;
a sign determination step (step S03) of determining that a derailment sign of the
train is present in a case that the pitch angular velocity of the bogie detected by
the detection section and the prediction value of the roll angular velocity calculated
at the prediction value calculating step exceed preset threshold values respectively
corresponding thereto; and
a transmitting step (step S04) of transmitting the derailment sign to an outside in
a case that it is determined that the derailment sign is present at the sign determination
step.
- [7] A derailment sign detection program for making a computer (ECU 3) execute a process
including:
a prediction value calculating step (step S02) of making a storage device (memory
32) store a roll angular velocity of a bogie (22) detected by a detection section
(angular velocity sensor 5) which is provided in a train and detects a pitch angular
velocity and the roll angular velocity of the train on traveling, and calculating
a prediction value of the roll angular velocity after a lapse of a prediction time
(Tp) based on a history of the roll angular velocity;
a sign determination step (step S03) of determining that a derailment sign of the
train is present in a case that the pitch angular velocity of the bogie detected by
the detection section and the prediction value of the roll angular velocity calculated
at the prediction value calculating step exceed preset threshold values respectively
corresponding thereto; and
a transmitting step (step S04) of transmitting the derailment sign to an outside in
a case that it is determined that the derailment sign is present at the sign determination
step.
[0043] Although the present invention has been described in detail referring to the specific
embodiment, it is obvious to those skilled in the art that the present invention can
be changed and modified variously without departing from the spirit and scope of the
present invention.
[0044] This application is based on Japanese Patent Application (patent application
2013-113265) filed on May 29, 2013, the entire contents of which are hereby incorporated by reference.
Industrial Applicability
[0045] With the present invention, the presence of a derailment sign can be determined earlier
than ever. The present invention exhibiting this advantage is useful in the field
relating to a derailment sign detection system, a control device, a derailment sign
detection method and a derailment sign detection program.
Reference Signs List
[0046]
- 1 ...
- derailment sign detection system
- 2 ...
- train
- 3 ...
- ECU
- 4 ...
- speed sensor
- 5 ...
- angular velocity sensor
- A ...
- abnormality notifying means
- B ...
- abnormality avoiding means
1. A derailment sign detection system comprising:
a detection section provided in a train and detecting a pitch angular velocity and
a roll angular velocity of the train on traveling;
a control device that makes a storage device store the roll angular velocity detected
by the detection section, calculates a prediction value of the roll angular velocity
after a lapse of a prediction time based on a history of the roll angular velocity,
and determines that a derailment sign of the train is present in a case that the pitch
angular velocity detected by the detection section and the prediction value of the
roll angular velocity exceed preset threshold values respectively corresponding thereto;
and
an output section that transmits the derailment sign to an outside in a case that
the control device determines that the derailment sign is present.
2. The derailment sign detection system according to claim 1, wherein
the control device calculates a change amount of the roll angular velocity in an inclination
measurement time, and calculates the prediction value of the roll angular velocity
after the lapse of the prediction time on an assumption that a change in the roll
angular velocity is maintained after the lapse of the prediction time.
3. The derailment sign detection system according to claim 2, wherein
the prediction time and the inclination measurement time are set based on a time required
until the pitch angular velocity exceeds the preset threshold value of the pitch angular
velocity.
4. The derailment sign detection system according to any one of claims 1 to 3, wherein
the control device makes the storage device store the pitch angular velocity detected
by the detection section, calculates a prediction value of the pitch angular velocity
after the lapse of the prediction time based on a history of the pitch angular velocity,
and determines that the derailment sign of the train is present in a case that the
prediction value of the pitch angular velocity and the prediction value of the roll
angular velocity exceed the preset threshold values respectively corresponding thereto.
5. A control device, configured to:
make a storage device store a roll angular velocity of a bogie detected by a detection
section which is provided in a train and detects a pitch angular velocity and the
roll angular velocity of the train on traveling,
calculate a prediction value of the roll angular velocity after a lapse of a prediction
time based on a history of the roll angular velocity,
determine that a derailment sign of the train is present in a case that the pitch
angular velocity of the bogie detected by the detection section and the prediction
value of the roll angular velocity exceed preset threshold values respectively corresponding
thereto, and
transmit the derailment sign to an outside in a case that the control device determines
that the derailment sign is present.
6. A derailment sign detection method in which a computer executes a process comprising:
a prediction value calculating step of making a storage device store a roll angular
velocity of a bogie detected by a detection section which is provided in a train and
detects a pitch angular velocity and the roll angular velocity of the train on travelling,
and calculating a prediction value of the roll angular velocity after a lapse of a
prediction time based on a history of the roll angular velocity;
a sign determination step of determining that a derailment sign of the train is present
in a case that the pitch angular velocity of the bogie detected by the detection section
and the prediction value of the roll angular velocity calculated at the prediction
value calculating step exceed preset threshold values respectively corresponding thereto;
and
a transmitting step of transmitting the derailment sign to an outside in a case that
it is determined that the derailment sign is present at the sign determination step.
7. A derailment sign detection program for making a computer execute a process comprising:
a prediction value calculating step of making a storage device store a roll angular
velocity of a bogie detected by a detection section which is provided in a train and
detects a pitch angular velocity and the roll angular velocity of the train on travelling,
and calculating a prediction value of the roll angular velocity after a lapse of a
prediction time based on a history of the roll angular velocity;
a sign determination step of determining that a derailment sign of the train is present
in a case that the pitch angular velocity of the bogie detected by the detection section
and the prediction value of the roll angular velocity calculated at the prediction
value calculating step exceed preset threshold values respectively corresponding thereto;
and
a transmitting step of transmitting the derailment sign to an outside in a case that
it is determined that the derailment sign is present at the sign determination step.